A capstan winch with a intelligent speed-regulating constant-power driving cycloid hydraulic motor

Abstract

The present application relates to the technical field of control of cycloidal hydraulic motor, especially to a winch cycloidal hydraulic motor with intelligent speed regulation and constant power drive, comprising a hydraulic motor, a hydraulic winch, a control valve block group, a linear velocity detection device and a controller, the hydraulic motor drives the hydraulic winch to rotate, the control valve block group is arranged on an oil inlet pipeline, the linear velocity detection device is arranged on a steel wire rope path to detect real-time linear velocity, and the controller adjusts the oil inlet flow of the motor according to the deviation between the real-time linear velocity and a target speed. The present application realizes closed-loop constant speed control and solves the problem of speed fluctuation of the cycloidal hydraulic motor in winch application caused by load change and change of effective radius of the steel wire rope.

Description

Technical Field

[0001] This invention relates to the field of cycloidal hydraulic motor control technology, and in particular to a cycloidal hydraulic motor for winches with intelligent speed regulation and constant power drive. Background Technology

[0002] Cycloidal hydraulic motors, as core actuators in hydraulic transmission systems, have been widely used in engineering machinery, agricultural machinery, and logistics transportation due to their compact structure, good low-speed stability, and high starting torque. However, with the deepening of intelligent transformation and digitalization, the insufficient control precision of traditional cycloidal motors under complex working conditions has become increasingly prominent. Currently, most mainstream cycloidal motors in China use fixed-displacement pumps for oil supply or simple throttling speed regulation, lacking the ability to adapt to load changes. Especially in applications such as hydraulic winches and hoists, when the load changes abruptly or the effective radius changes due to layered winding of the wire rope, the motor speed is prone to fluctuations, seriously affecting operational accuracy and safety. The market urgently needs an intelligent motor product with high-precision closed-loop control, constant power drive capability, and controllable cost, transforming the cycloidal hydraulic motor from a single actuator into a control actuator. Summary of the Invention

[0003] The technical problem this invention aims to solve is that existing cycloidal hydraulic motors lack adaptive speed regulation capabilities in winch applications, and cannot adjust the speed in real time according to changes in load and the effective radius of the wire rope, resulting in insufficient accuracy and safety in winch operations.

[0004] The technical solution adopted by this invention to solve its technical problem is: a cycloidal hydraulic motor for winches with intelligent speed regulation and constant power drive, including a hydraulic motor, a hydraulic winch, a control valve block assembly, a linear speed detection device, and a controller. The power output end of the hydraulic motor drives the hydraulic winch to rotate. The control valve block assembly is set on the oil inlet line of the hydraulic motor. The linear speed detection device is set on the path of the wire rope and is used to detect the real-time linear speed of the wire rope. The controller is electrically connected to the control valve block assembly and the linear speed detection device respectively. The controller outputs a control signal to the control valve block assembly to adjust the oil inlet flow of the hydraulic motor according to the deviation between the real-time linear speed detected by the linear speed detection device and the preset target linear speed, so that the real-time linear speed of the wire rope tends to the preset target linear speed.

[0005] Furthermore, the control valve block assembly includes two check valves, a proportional speed control valve, and a directional valve. The inlets of the two check valves are connected to the two working ports of the hydraulic motor, respectively. The outlets of the two check valves are connected in parallel and then connected to the inlet of the proportional speed control valve. The outlet of the proportional speed control valve is connected to the inlet oil circuit of the hydraulic motor via the directional valve. The controller outputs a control voltage to the proportional speed control valve to adjust its opening.

[0006] Furthermore, the directional valve is a two-position four-way solenoid directional valve.

[0007] Furthermore, the linear velocity detection device includes a front guide wheel, a rear guide wheel, a speed measuring tooth, and a proximity sensor. The front guide wheel and the rear guide wheel are arranged sequentially along the direction of the wire rope. The wire rope passes around the front guide wheel and the rear guide wheel in sequence and is guided by both of them. A speed measuring tooth is coaxially fixed on the rear guide wheel. The proximity sensor is set on the radial side of the speed measuring tooth and is used to detect the rotational speed of the speed measuring tooth.

[0008] Furthermore, the speed measuring gear is a metal gear, the proximity sensor is an inductive proximity switch, and the speed measuring gear has forty-eight teeth.

[0009] Furthermore, the controller is a programmable logic controller or a microcontroller.

[0010] Furthermore, the microcontroller is based on the STM32 microcontroller.

[0011] Furthermore, the controller executes a PID closed-loop control algorithm. Based on the deviation between the real-time linear velocity and the preset target linear velocity, the controller generates a control voltage output to the proportional speed control valve through proportional, integral, and derivative operations.

[0012] Furthermore, the controller also includes a singular value filtering module, which performs singular value filtering on the pulse signal output by the proximity sensor to eliminate abnormal pulse signals caused by mechanical vibration or electromagnetic interference.

[0013] Furthermore, the groove diameter of the rear guide wheel is seventy millimeters. The controller calculates the real-time linear velocity of the wire rope according to the formula v=0.346 / Δt based on the number of teeth of the speed measuring tooth, the pulse interval time detected by the proximity sensor, and the groove diameter of the rear guide wheel, where Δt is the pulse interval time.

[0014] The beneficial effects of this invention are as follows: By combining the bridge arrangement of two check valves in the control valve block group with a proportional speed control valve and a reversing valve, bidirectional oil flow regulation under forward and reverse operation of the hydraulic motor is achieved, solving the problem that existing fixed displacement motors can only adjust speed in one direction; a linear speed detection device is constructed by the front guide wheel, rear guide wheel, speed measuring gear, and proximity sensor, and non-contact real-time rope speed detection is achieved by using friction transmission and pulse counting, avoiding the wear and complex installation problems caused by the direct contact of the traditional encoder with the wire rope; by executing a PID closed-loop control algorithm through the controller, the opening of the proportional speed control valve is automatically adjusted according to the deviation between the real-time linear speed and the preset value, realizing constant linear speed drive of the winch wire rope under different loads and different winding radii, effectively improving the control accuracy and safety of winch operation. Attached Figure Description

[0015] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0016] Figure 1This is a schematic diagram of the structure of the cycloidal hydraulic motor of the present invention.

[0017] Figure 2 This is a hydraulic schematic diagram of the control valve block assembly of the present invention.

[0018] Figure 3 This is an assembly diagram of the cycloidal hydraulic motor of the present invention.

[0019] Explanation of reference numerals in the attached drawings: 100. Hydraulic motor; 110. Hydraulic winch; 200. Control valve block assembly; 210. First check valve; 220. Second check valve; 230. Proportional speed control valve; 240. Directional control valve; 300. Linear speed detection device; 310. Front guide wheel; 320. Rear guide wheel; 330. Speed ​​measuring gear; 340. Proximity sensor; 400. Controller. Detailed Implementation

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0021] like Figures 1 to 3 As shown, the present invention discloses a cycloidal hydraulic motor for a winch with intelligent speed regulation and constant power drive, comprising a hydraulic motor 100, a control valve block assembly 200, a linear speed detection device 300, and a controller 400. The power output end of the hydraulic motor 100 drives the hydraulic winch 110 to rotate, and the hydraulic winch 110 is used to wind up and unwind the wire rope. The control valve block assembly 200 is disposed in the oil inlet line of the hydraulic motor 100 and is used to regulate the oil flow rate entering the hydraulic motor 100. The linear speed detection device 300 is disposed on the path of the wire rope and is used to detect the running linear speed of the wire rope in real time. The controller 400 is electrically connected to both the control valve block assembly 200 and the linear speed detection device 300, receives the speed signal fed back by the linear speed detection device 300, and outputs control commands to the control valve block assembly 200.

[0022] The control valve block assembly 200 includes a first check valve 210, a second check valve 220, a proportional speed control valve 230, and a directional valve 240. The inlet of the first check valve 210 is connected to the first working port of the hydraulic motor 110, and the inlet of the second check valve 220 is connected to the second working port of the hydraulic motor 110. The outlets of the first and second check valves 210 are connected in parallel to the inlet of the proportional speed control valve 230. The outlet of the proportional speed control valve 230 is connected to the oil inlet circuit of the hydraulic motor 110 via the directional valve 240. When the hydraulic motor 110 rotates forward (rope winding), oil enters the proportional speed control valve 230 through the second check valve 220; when the hydraulic motor 110 rotates in reverse (rope unwinding), oil enters the proportional speed control valve 230 through the first check valve 210. The bridge arrangement of the two check valves allows the proportional speed control valve 230 to regulate the flow rate into the hydraulic motor 110 regardless of whether the hydraulic motor 110 is rotating forward or backward. The directional valve 240 is preferably a two-position four-way solenoid directional valve, used to switch the oil inlet direction of the hydraulic motor 110, thus switching between rope winding and unwinding operations. The controller 400 outputs a control voltage of 0 to 10V to the proportional speed control valve 230, which linearly adjusts its valve opening according to the magnitude of the control voltage, thereby controlling the flow rate into the hydraulic motor 110.

[0023] The linear velocity detection device 300 includes a front guide wheel 310, a rear guide wheel 320, a speed measuring gear 330, and a proximity sensor 340. The front guide wheel 310 and the rear guide wheel 320 are arranged sequentially along the direction of the wire rope. The wire rope passes around the front guide wheel 310 and the rear guide wheel 320 in sequence, and the rear guide wheel 320 is rotated by friction. A speed measuring gear 330 is coaxially fixed on the rear guide wheel 320. The speed measuring gear 330 is a metal gear, preferably with forty-eight teeth (z). The proximity sensor 340 is located on one radial side of the speed measuring gear 330, and is preferably an inductive proximity switch. When the wire rope moves, the rear guide wheel 320 drives the speed measuring gear 330 to rotate synchronously. The teeth of the speed measuring gear 330 alternately pass over the detection end face of the proximity sensor 340, causing the proximity sensor 340 to output a pulse signal. The controller 400 receives the pulse signal, records the time interval Δt between two adjacent pulses, and then calculates the real-time linear velocity according to the formula based on the groove diameter D of the rear guide wheel 320 and the wire rope diameter d. The rotational speed of the rear guide wheel 320 is ω = 120π / (z·Δt), and the real-time linear velocity of the wire rope is v = ω·(D+d) / 2. Substituting the specific parameters z = 48, D = 70mm, and d = 18mm, the result simplifies to v = 0.346 / Δt (unit: m / min). Compared to the time-based counting method, this fixed-tooth timing method has higher real-time performance and dynamic response speed, and can more quickly reflect the changing trend of the wire rope linear velocity.

[0024] The controller 400 can be a programmable logic controller (PLC) or a microcontroller (MCU) based on an STM32 microcontroller. The controller 400 has a pre-set PID closed-loop control algorithm. During operation, the operator sets the target linear speed of the wire rope through the controller 400. The controller 400 acquires the current linear speed of the wire rope in real time through the linear speed detection device 300, calculates the deviation 'e' between the target linear speed and the current linear speed, and then generates a control voltage 'u' through proportional, integral, and derivative operations, which is output to the proportional speed control valve 230. When the current linear speed is detected to be less than the target linear speed, the controller 400 increases the output control voltage, the proportional speed control valve 230 opens wider, the flow rate into the hydraulic motor 110 increases, the speed of the hydraulic motor 110 increases, and the wire rope linear speed increases until the linear speed reaches the target value. When the current linear speed is detected to be greater than the target linear speed, the controller 400 decreases the output control voltage, the proportional speed control valve 230 opens narrower, the flow rate into the hydraulic motor 110 decreases, the speed of the hydraulic motor 110 decreases, and the wire rope linear speed decreases until the linear speed reaches the target value. This closed-loop control process continues, ensuring that the wire rope linear speed remains constant throughout the entire process of winding and unwinding.

[0025] In terms of signal processing, the controller 400 also includes a singular value filtering module. Because the proximity sensor 340 may be affected by mechanical vibration or electromagnetic interference during actual use, abnormal jumps may occur in the pulse signal. These abnormal jumps can cause spikes and glitches in the instantaneous velocity calculation, affecting control accuracy. The singular value filtering module identifies the received pulse signal: when the deviation between a measured linear velocity value and the previous valid measurement value exceeds a preset threshold, this value is determined to be an singular value and discarded, and the previous valid measurement value is used to replace the current value in the control calculation. The rope velocity signal after singular value filtering is smooth and close to the true value, providing reliable speed feedback for subsequent PID control.

[0026] The working process of this cycloidal hydraulic motor is as follows: First, assemble the hydraulic motor 100, control valve block assembly 200, linear speed detection device 300, and controller 400 according to the above connection relationship. Start the hydraulic system, and the hydraulic station supplies oil to the hydraulic motor 100. The operator sets the target wire rope linear speed on the controller 400. The hydraulic motor 100 drives the hydraulic winch 110 to rotate. During the wire rope winding or unwinding process, it drives the rear guide wheel 320 of the linear speed detection device 300 to rotate. The proximity sensor 340 detects the rotation speed of the speed measuring gear 330 in real time and outputs a pulse signal. The controller 400 collects the pulse signal, calculates the current linear speed value after singular value filtering, compares it with the target value, and outputs a control voltage to the proportional speed control valve 230 after PID calculation to adjust the opening, thereby changing the flow rate entering the hydraulic motor 100 and realizing constant speed closed-loop control of the wire rope linear speed. The above process runs automatically throughout the entire wire rope winding and unwinding process without manual intervention. By using a control valve block assembly and a linear velocity detection device in conjunction with a controller to achieve closed-loop constant speed control, the control performance of the cycloidal hydraulic motor can be comprehensively tested and evaluated under different loads and hydraulic flow conditions, verifying the stability and control accuracy of the constant speed control system.

Claims

1. A cycloidal hydraulic motor for a winch with intelligent speed regulation and constant power drive, comprising a hydraulic winch (100), wherein the hydraulic winch (100) is driven by a hydraulic motor (110), characterized in that: It also includes a control valve block assembly (200), a linear velocity detection device (300), and a controller (400). The control valve block assembly (200) is located on the oil inlet line of the hydraulic motor (110). The linear velocity detection device (300) is located on the path of the wire rope and is used to detect the real-time linear velocity of the wire rope. The controller (400) is electrically connected to the control valve block assembly (200) and the linear velocity detection device (300) respectively. The controller (400) outputs a control signal to the control valve block assembly (200) to adjust the oil inlet flow of the hydraulic motor (110) according to the deviation between the real-time linear velocity detected by the linear velocity detection device (300) and the preset target linear velocity, so that the real-time linear velocity of the wire rope tends to the preset target linear velocity.

2. The cycloidal hydraulic motor for winches with intelligent speed regulation and constant power drive as described in claim 1, characterized in that: The control valve block assembly (200) includes a first check valve (210), a second check valve (220), a proportional speed control valve (230), and a directional valve (240). The oil inlet of the first check valve (210) is connected to the first working oil port of the hydraulic motor (110), and the oil inlet of the second check valve (220) is connected to the second working oil port of the hydraulic motor (110). The oil outlets of the first check valve (210) and the second check valve (220) are connected in parallel to the oil inlet of the proportional speed control valve (230). The oil outlet of the proportional speed control valve (230) is connected to the oil inlet of the hydraulic motor (110) via the directional valve (240). The controller (400) outputs a control voltage to the proportional speed control valve (230) to adjust its opening.

3. A cycloidal hydraulic motor for winches with intelligent speed regulation and constant power drive as described in claim 2, characterized in that: The reversing valve (240) is a two-position four-way solenoid reversing valve.

4. A cycloidal hydraulic motor for winches with intelligent speed regulation and constant power drive as described in claim 1, characterized in that: The linear velocity detection device (300) includes a front guide wheel (310), a rear guide wheel (320), a speed measuring tooth (330), and a proximity sensor (340). The front guide wheel (310) and the rear guide wheel (320) are arranged sequentially along the direction of the wire rope. The wire rope passes around the front guide wheel (310) and the rear guide wheel (320) in sequence and is guided by both. The speed measuring tooth (330) is coaxially fixed on the rear guide wheel (320). The proximity sensor (340) is arranged on the radial side of the speed measuring tooth (330) and is used to detect the rotational speed of the speed measuring tooth (330).

5. A cycloidal hydraulic motor for winches with intelligent speed regulation and constant power drive as described in claim 4, characterized in that: The speed measuring gear (330) is a metal gear, and the proximity sensor (340) is an inductive proximity switch. The speed measuring gear (330) has forty-eight teeth.

6. A cycloidal hydraulic motor for winches with intelligent speed regulation and constant power drive as described in claim 1, characterized in that: The controller (400) is a programmable logic controller or a microcontroller.

7. A cycloidal hydraulic motor for winches with intelligent speed regulation and constant power drive as described in claim 6, characterized in that: The microcontroller is based on the STM32 microcontroller.

8. A cycloidal hydraulic motor for winches with intelligent speed regulation and constant power drive according to claim 2, characterized in that: The controller (400) executes the PID closed-loop control algorithm. Based on the deviation between the real-time linear velocity and the preset target linear velocity, the controller (400) generates a control voltage output to the proportional speed control valve (230) through proportional, integral and derivative operations.

9. A cycloidal hydraulic motor for winches with intelligent speed regulation and constant power drive as described in claim 1, characterized in that: The controller (400) also includes a singular value filtering module, which performs singular value filtering on the pulse signal output by the proximity sensor (340) to eliminate abnormal pulse signals caused by mechanical vibration or electromagnetic interference.

10. A cycloidal hydraulic motor for winches with intelligent speed regulation and constant power drive according to claim 4, characterized in that: The groove diameter of the rear guide wheel (320) is seventy millimeters. The controller (400) calculates the real-time linear velocity of the wire rope according to the formula v=0.346 / Δt based on the number of teeth of the speed measuring tooth (330), the pulse interval time detected by the proximity sensor (340), and the groove diameter of the rear guide wheel (320), where Δt is the pulse interval time.

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